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This article addresses the problem of high precision attitude control for quadrotor unmanned aerial vehicle in presence of wind gust and actuator faults. We consider the effect of those factors as lumped disturbances, and in order to realize the quickly and accurately estimation of the disturbances, we propose a control strategy based on the online disturbance uncertainty estimation and attenuation method. Firstly, an enhanced extended state observer (ESO) is constructed based on the super-twisting (ST) algorithm to estimate and attenuate the impact of wind gust and actuator faults in finite time. And the convergence analysis and parameter selection rule of STESO are given following. Secondly, in order to guarantee the asymptotic convergence of desired attitude timely, a sliding mode control law is derived based on the super-twisting algorithm. And a comprehensive stability analysis for the entire system is presented based on the Lyapunov stability theory. Finally, to demonstrate the efficiency of the proposed solution, numerical simulations and real time experiments are carried out in presences of wind disturbance and actuator faults.

Super-Twisting Extended State Observer and Sliding Mode Controller for Quadrotor UAV Attitude System in Presence of Wind Gust and Actuator Faults